Huanyu Liu

CitraNav: A Lightweight Navigation Method Using Spatiotemporal Information Voxel Mapping and Model Predictive Path Integral Control for Complex Orchards

Canopy occlusion, dynamic vegetation, structural degeneracy, and implicit terrain risks make stable localization and task-adaptive planning difficult for resource-constrained orchard robots. This paper proposes CitraNav, a lightweight navigation method for global navigation satel...